/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


*/
#include "Aria/Aria.h"


int main()
{
  ArPose p1(100, 100, 0), p2(1000, 1000, 90), p3;
  ArTransform trans;
  
  trans.setTransform(p1);
  
  p3.setPose(-900,-900,0);
  p3 = trans.doTransform(p3);
  p3.log();
  
  p2.setPose(200, 200, 0);
  trans.setTransform(p1, p2);
  p3.setPose(0,0,0);
  p3 = trans.doInvTransform(p3);
  p3.log();





}
